02.04.2008

Cooperative Manipulation Brainstorming

  • Goals
    1. Prepositioned robots cooperatively pushing object straight
    • BOM and Encoders only
    • Code
      • Startup
      • Join Token ring
      • Join Coop Manip PAN
      • Wait for until enough robots
      • Start pushing straight
      • Arbitrary stop condition
        1. Coordinated Positioning
    • Robot recognizes object, helper robot finds the original, helper moves into position near object
  • Necessary Components
    • Encoders + Dead Reckoning
    • BFS
    • Orbit
  • Object Design
    • Rectangle
      • Favored design
      • Two robots pushing on the same face
      • High enough to block BOM
  • Tests needed
    • Pushing power vs. object weight
    • Minimum encoder RPM
  • Wireless
    • Task PAN for communication
    • Regular packets
  • Director robot?
    • Original robot that found object becomes director?
  • Positioning
    • How do robots know which side they're on?
      • Button press
      • Wireless commands
    • Grooves for robot shape
  • Potential extensions
    • Circular object pushing
    • Arbitrary pattern pushing w/ wireless/colonet control
  • Action Items
    • Do pushing power test
    • Investigate BFS and orbit code
  • Waiting On
    • Encoders + Dead Reckoning code
    • Object Recognition